function [vL,vR]=RFNN_EKF_cal_v3_only(dg,sig,do,sio)
    aph=0.3;
    b=0.098;
    S=[dg,do,sig,sio];
%     a=[0.44,0.63,0.21,0.64,0.97,0.70,0.88,0.93,0.95,0.52,0.18,0.82,0.05,0.13,0.93,0.28;
%                 0.94,0.68,0.67,0.38,0.87,0.56,0.30,0.85,0.78,0.97,0.98,0.60,0.01,0.26,0.31,0.23];
    a=[0.11,0.14,0.17,0.62,0.57,0.05,0.93,0.73,0.74,0.06,0.86,0.93,0.98,0.86,0.79,0.51;
                0.18,0.40,0.13,0.03,0.94,0.30,0.30,0.33,0.47,0.65,0.03,0.84,0.56,0.85,0.35,0.45];
    W=a*sum(S(:));
    [Outputs,Fnk]=RFNNpro_v(S,W);
    vR=Outputs(1)/(1+aph*abs(Outputs(1)));
    vL=Outputs(2)/(1+aph*abs(Outputs(2)));
end